• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2020, Vol. 56 ›› Issue (5): 150-160.doi: 10.3901/JME.2020.05.150

• 航天重器——空间大型可展机构与装备专刊 • 上一篇    下一篇

基于新型两层两环连杆的一族伞状可展机构的构型综合

杨栋皓, 曹文熬, 丁华锋   

  1. 中国地质大学(武汉)机械与电子信息学院 武汉 430074
  • 收稿日期:2019-04-02 修回日期:2019-08-29 出版日期:2020-03-05 发布日期:2020-04-23
  • 通讯作者: 曹文熬(通信作者),男,1985年出生,博士,副教授,硕士研究生导师。主要研究方向为机器人技术与装备。E-mail:cwao1986@163.com
  • 作者简介:杨栋皓,男,1993年出生。主要研究方向为空间可展机构的设计。E-mail:yangdh9311@163.com
  • 基金资助:
    国家自然科学基金(51875538)和中国博士后科学基金(2017T100590)资助项目。

Type Synthesis of a Family of Umbrella-shaped Deployable Mechanisms Based on New Two-layer and Two-loop Linkages

YANG Donghao, CAO Wenao, DING Huafeng   

  1. School of Mechanical Engineering and Electronic Information, China University of Geosciences(Wuhan), Wuhan 430074
  • Received:2019-04-02 Revised:2019-08-29 Online:2020-03-05 Published:2020-04-23

摘要: 雨伞的连杆机构是最经典的可展机构之一,它是由多个平面连杆或悬臂杆构建而成,呈现出来的是一种低刚度和低耦合性的肋式支撑结构。到目前为止,可用来构建高刚度伞状可展机构的空间闭环连杆可展单元很少。为此,开发一类含三转动副(3R)耦合支链的两层两环空间连杆,并以它们为单元构建多环耦合的伞状可展机构。基于自由度和对称性特征分析了此类两层两环空间连杆机构的结构形式。提出了一种简洁高效的模块化组合方法来综合两层两环空间连杆可展单元;根据机构的单自由度要求和结构的对称性建立了单元间的可动连接方式;根据综合得到的可展单元和单元间的可动连接方式构造出一族新型伞状可展机构。不同于传统的雨伞机构,这些新型伞状可展机构呈多环耦合状的桁架式结构,在航天装备、建筑结构、艺术结构等领域具有良好的应用前景。

关键词: 可展机构, 两层两环连杆, 构型综合, 伞状机构

Abstract: As one of the most classical deployable mechanisms, the umbrella linkage is general constructed by multiple planar linkages or cantilever bars, with a ribbed support structure with relatively low stiffness and low coupling. Up to now, relatively few spatial closed-loop deployable linkage units have been found for constructing umbrella-shaped deployable mechanisms with high stiffness. Therefore, a class of two-layer and two-loop spatial linkage units with three revolute pairs (3R) coupling chains is proposed, and a family of umbrella-shaped deployable mechanisms with multi-loop coupling has been constructed based on those units. Structural types of this class of two-layer and two-loop spatial linkages are analyzed based on the degree-of-freedom (DOF) and the symmetry characteristic. A concise and efficient method is proposed for synthesizing two-layer and two-loop spatial linkage units based on modular combinations. Mobile assembly methods of the deployable units are established based on the conditions of the single DOF and the structural symmetry. Umbrella-shaped deployable mechanisms are constructed based on the developed deployable units and the established mobile assembly methods. Unlike traditional umbrella mechanisms, these new umbrella-shaped deployable mechanisms have multi-loop coupling truss structure, and have good potential applications in the fields of astronautic equipment, architectural structure, art structure and so on.

Key words: deployable mechanism, two-layer and two-loop linkage, type synthesis, umbrella-shaped mechanism

中图分类号: